How about looking at the Arduino controller board and motor control board (low cost), you can do Steeper Motor and DC motor control, all control software libraries available for free. Manysizes/flavours of Arduino controllers and add on boards/shields depending on what you want for price/features
Controller: http://www.makershed.com/ProductDetails.asp?ProductCode=MKSP4
Motor Control: http://www.makershed.com/ProductDetails.asp?ProductCode=MKAD7
All Arduino Hardware Stuff::
http://www.makershed.com/SearchResults.asp?Cat=43
Stepper software library:
http://arduino.cc/en/Reference/Stepper?from=Tutorial.Stepper
RC Servo motor library:
http://www.arduino.cc/en/Reference/Servo
This should get you started.
Brock